JP7036850B2 - Sensor diffusion stack material for pressure sensing gloves and how to incorporate it - Google Patents

Description

The present specification generally relates to sensor systems and processes for detecting and measuring the pressure exerted on a sensor. More specifically, it relates to a sensor stack design incorporating various densities of dispersion and diffusion materials by transmitting the force applied to the entire sensor to determine the resulting force.

Sensors can be used to collect pressure measurements applied to them. For example, gloves incorporating sensor technology can be used to collect typical pressure measurements experienced along the operator's hand when a force is applied. Predetermined tasks performed by the glove operator on the size, position and / or shape of sensors placed along and / or within the glove to improve the accuracy of pressure measurements detected by the sensor. Can be determined in relation to. Predetermined tasks can generally involve encountering physical forces at different angles to the sensor (eg, due to the natural curvature of the operator's hand (including the surface of the finger or palm)). In some cases, the physical force applied to it may be applied non-vertically to the plane of the sensor. Therefore, the resulting pressure measurement decision may include an error due to the angle of force received by the sensor. The potential inaccuracy in measuring the pressure detected by the sensor can be detrimental to the purpose of determining the magnitude of the force received.

In one embodiment, the pressure sensing glove for measuring force includes a sensor that includes a pair of contact layers and a pair of diffusion layers that are placed between the pairs of contact layers. The contact layer pair distributes the force received along the outer surface of the sensor across the diffusion layer pair. The sensor further includes a sensing layer placed between a pair of diffusion layers. The diffusion layer pair normalizes the force received from the contact layer pair across the sensing layer. The sensing layer receives forces at multiple locations over the entire surface area of the sensing layer to determine the resulting pressure on the sensor.

In another embodiment, the method is a step of receiving a force applied to a glove containing the sensor at a position along the outer contact layer of the sensor and from that position across the outer contact layer along the outer contact layer. Includes steps to distribute the force to position. The method further comprises receiving forces from multiple locations on the outer contact layer at multiple locations on the outer diffusion layer of the sensor. The outer diffusion layer is placed beneath the outer contact layer with respect to the forces it receives. The method further comprises normalizing the force passing through the outer diffusion layer at multiple locations across the outer diffusion layer, and receiving a force across the surface area of the sensor's sensing layer. The sensing layer is located below the outer contact layer and is against the force that the outer diffusion layer receives on it.

In another embodiment, the glove device comprises a sensor comprising an outer layer arranged along the surface of the glove device and is configured to receive force from the surface of the glove device so that the outer layer further disperses the force. It is configured in, through which the dispersion force is normalized. The glove device includes an inner layer arranged adjacent to the outer layer and is configured to receive a normal force in response to the force being received by the outer layer on the surface of the glove device. The inner layer is further configured to disperse the normal force and normalize the distributed normal force through it. The glove device further includes a sensing layer disposed between the outer and inner layers. The sensing layer is configured to receive a normalized force from the outer layer and a normalized normal force from the inner layer to detect the magnitude of the force received from the surface of the glove device. ..

These and additional features provided by the embodiments described herein are more fully understood in light of the following detailed description, in conjunction with the drawings.

The embodiments described in the drawings are essentially exemplary and exemplary. Nor is it intended to limit the subject matter defined by the claims. The following detailed description of the exemplary embodiment can be understood by reading in conjunction with the following drawings. Here, similar structures are indicated by similar reference numbers.
FIG. 1 schematically illustrates an exemplary sensing glove system, comprising multiple sensor regions along the palm surface of the glove, according to one or more embodiments shown and described herein. FIG. 2 schematically illustrates another exemplary sensing glove system comprising multiple sensors along the surface of the glove's palm, according to one or more embodiments shown and described herein. FIG. 3A schematically illustrates the sensing glove system of FIG. 1 comprising a plurality of sensor areas extending along the surface of a glove finger according to one or more embodiments shown and described herein. FIG. 3B schematically illustrates the sensing glove system of FIG. 1 comprising a plurality of sensor regions extending along a curved surface of a finger according to one or more embodiments shown and described herein. FIG. 4A schematically illustrates the sensing glove system of FIG. 3 comprising a plurality of sensors extending along the surface of a glove finger according to one or more embodiments shown and described herein. FIG. 4B schematically illustrates the sensing glove system of FIG. 4 comprising a plurality of sensors extending along a curved surface of a finger according to one or more embodiments shown and described herein. FIG. 5 schematically illustrates an exemplary stack design of the sensors of the sensing glove system of FIGS. 1 and 2 according to one or more embodiments shown and described herein. FIG. 6 schematically illustrates the exemplary force distribution across the stack design of the sensors in the sensing glove systems of FIGS. 1 and 2 according to one or more embodiments shown and described herein. FIG. 7 shows a flow chart of an exemplary method of distributing forces across the sensors of the sensing glove systems of FIGS. 1 and 2 according to one or more embodiments shown and described herein.

The glove system can include one or more arrays of sensor assemblies (such as regions) designed to collectively detect forces received along the glove. By detecting the physical force applied to the glove's sensor array, the glove operator can identify the resulting pressure at various locations along the operator's hand. The pressure data detected by the glove's sensor assembly can be used by the glove system operator to adjust how tasks (eg, physical position, geometry, and / or adjustment of the operator's hand orientation) are performed. As a result of the analysis of the above data, the force to withstand along the operator's hand is minimized, thereby reducing the possibility of injury, discomfort, and / or unnecessary pain in performing the task. To determine the appropriate way to perform a task, it is desirable to accurately measure the resulting pressure based on the force exerted on the operator's hands when performing the task. However, in some cases, the resulting pressure measurements vary relative to the actual force received along the operator's hand due to the various angles that receive the force along the palm surface of the hand and / or the plane of the sensor assembly. May be done. The inaccuracy of force vector measurements is a challenge in accurately measuring the pressure that results from being applied to the operator's hands and in determining the appropriate method for performing tasks in the operator's hands. May bring.

The present disclosure relates generally to glove systems and methods. This includes sensor technology for detecting and measuring the forces applied along the glove. More specifically, the present disclosure improves the accuracy of measuring the pressure received along the glove's sensor assembly by placing multiple layers of different materials for the sensor assembly's core sensor layer. Regarding assembly and method. A plurality of layers arranged around the core sensor layer are specifically configured to distribute and normalize the forces received along the sensor assembly. The provision of a sensing system that distributes the force throughout the core sensor layer accurately measures the resulting pressure, especially the force with an angled orientation with respect to the surface of the glove, calculated from the applied force. Helps to do. The glove system detects and measures the various forces received and distributes and disperses the forces across multiple layers of the glove system for accurate detection when performing tasks, thereby palming the operator's hand. It helps to determine the proper method, such as the exact physical position and orientation in the operator's hand at different angles with respect to the surface.

Referring to the drawings, FIG. 1 shows an exemplary glove system 100 comprising at least one finger surface region 102 and a palm surface region 104. The palm surface region 104 of the glove system 100 includes a palmar metacarpal region 106, a medial palmar region 108, a hypothenar region 110, and a thumb ball 112. , The palm surface area 104 of the glove system 100 is specifically located on one or more of the palm side middle hand portion 106, the palm side central portion 108, the hypothenar portion 110, and the thumb ball portion 112. Includes one or more sensor arrays 120. In this example, the palm surface area 104 includes three sensor arrays 120 arranged along the palm side middle hand portion 106, one sensor array 120 arranged along the hypothenar portion 110, and a thumb ball portion. Includes one sensor array 120 arranged along 112. The one or more sensor arrays 120 can be fixed and attached to the glove system 100 in various ways. The method is to print one or more sensor arrays 120 on the fabric of the glove system 100, weave one or more sensor arrays 120 into the fabric of the glove system 100, or glove one or more sensor arrays 120. Includes, but is not limited to, those that adhere to and / or similar to. Additional and / or less sensor arrays 120 are placed along various anatomical regions of the palm surface region 104 in addition to those shown and depicted herein, without departing from the scope of the present disclosure. It should be understood that it can be done.

One or more sensor arrays 120 of the globe system 100 include a plurality of detection areas 122 disposed therein. In some embodiments, each plurality of detection areas 122 of one or more sensor arrays 120 are sized and shaped along the surface area 104 of the palm in relation to the task to be performed on the glove system 100. Is defined and arranged. In other words, the location and profile of one or more sensor arrays 120, and the plurality of detection areas 122 contained therein along the palm surface area 104 of the glove system 100, are based on the predetermined use of the glove system 100. Can be decided. Thus, one or more sensor arrays 120 are along the corresponding regions 106108, 110, 112 of 104 palm surface regions that generally receive a force load on them when performing a predetermined task by the operator's hand. Is sized and placed. As described in more detail herein, one or more sensor arrays 120 may include, for example, the finger surface of the glove system 100 if the operator's hand is generally subject to force when performing a predetermined task. It can be arranged along the region 102. One or more sensor arrays 120 statically located along the globe system 100, plus one or more capable of receiving a push load while performing a given task. The sensor array 120 can be further placed along a portion of the glove system 100 to receive a laterally slidable load that produces an indirect force along the operator's hand, especially in the palm surface area 104. Can be done.

Continuing with reference to FIG. 1, each of the plurality of detection regions 122 of one or more sensor arrays 120 is further sized and shaped along the palm surface region 104 in relation to the curvature of the operator's hand surface. Determined and placed. In other words, along the profile of one or more sensor arrays 120 and the palm surface area 104 of the glove system 100, the plurality of detection areas 122 contained therein are based on the surface curvature of the operator's hand. It can be determined along the specific areas 106, 108, 110, 112 of the palm surface area 104 where 120 is located. In this example, the plurality of detection regions 122 of the sensor array 120 located along the palm side middle hand portion 106 are sized and shaped with respect to the curvature and size of the palm side middle hand portion 106. Therefore, the plurality of detection areas 122 of the sensor array 120 located along the palm side middle hand portion 106 are relatively small and circular due to the corresponding contour of the palm side middle hand portion 106.

The plurality of detection areas 122 of the sensor array 120 arranged along the hypothenar part 110 and the thumb part 112 have sizes and shapes related to the curvature and size of the little finger part 110 and the thumb part 112, respectively. It is decided. Therefore, the plurality of detection regions 122 of the sensor array 120 arranged along the hypothenar portion 110 and the thumb region 112 are relatively large and elongated due to the corresponding contours of the hypothenar portion 110 and the thumb region 112. It should be understood that the plurality of detection areas 122 within the individual sensor array 120 may differ in relative size and shape. In addition, other various sizes, shapes and locations of the one or more sensor arrays 120, in particular the detection areas 122 located within the surface area 104 of the palm, are shown and depicted herein. It should be understood that it can be included in the glove system 100 rather than what it does. As described in more detail herein, in a glove system 100 comprising a plurality of detection regions 122 in one or more sensor arrays 120, the glove system 100 is a non-discrete anatomy of the hands of a general operator. It is configured to sense the force load applied to it along the target portion (ie, along the detection area 122). It should be understood that by including the plurality of detection areas 122 within one or more sensor arrays 120, the glove system 100 can provide a general indication of position along the pressured glove system 100. Is. As described in more detail herein, the inclusion of individual individual sensors can provide specific indications of where the glove system is under pressure.

Here, with reference to FIG. 2, another exemplary glove system 200 is shown. It is understood that the glove system 200 is similar to the glove system 100 described above so that similar reference numbers are used to identify similar components, except as described below. Should be. However, the glove system 200 differs from the glove system 100 in that the glove system 200 includes a plurality of sensors 222 in one or more sensor arrays 220 along the palm surface area 104. In this example, the palm surface area 104 is composed of three sensor arrays 220 arranged along the palm side middle hand portion 106, one sensor array 220 arranged along the hypothenar portion 110, and a thumb ball portion. Includes one sensor array 220 arranged along 112. Each of the sensor arrays 220 of the globe system 200 includes a plurality of individual sensors 222 disposed therein, and one or more sensor arrays 220 can be secured and attached to the globe system 200 in various ways. .. This method prints one or more sensor arrays 220 on the fabric of the glove system 200, weaves one or more sensor arrays 220 into the fabric of the glove system 200, and puts one or more sensor arrays 220 on the glove. Includes adhesive fixation and / or similar. However, it is not limited to them. Additional and / or less sensor arrays 220 and / or sensors 222, without departing from the scope of the present disclosure, are shown and depicted in various anatomical regions of the palm surface region 104. It should be understood that it can be placed along.

In some embodiments, each of the plurality of sensors 222 of one or more sensor arrays 220 is shaped and placed along the palm surface area 104 associated with the task to be performed in the glove system 200. Has been decided. In other words, the location and profile of one or more sensor arrays 220 and the plurality of sensors 222 contained therein along the palm surface area 104 of the glove system 200 are determined based on the predetermined use of the glove system 200. be able to. Thus, the one or more sensor arrays 220 are sized and in the corresponding regions 106, 108, 110, 112 of the palm surface region 104, which is generally subject to force when performing a predetermined task by the operator's hand. It is arranged along. As described in more detail herein, one or more sensor arrays 220, in particular a plurality of sensors 222, may be loaded onto it, for example, when the operator's hand generally performs a predetermined task. Can be placed along the finger surface area 102 of the glove system 200.

Continuing with reference to FIG. 1, each of the plurality of sensors 222 of one or more sensor arrays 220 is further sized and shaped along the palm surface area 104 in relation to the curvature of the operator's hand surface. And placed. In other words, along the palm surface area 104 of the glove system 200, the profiles of one or more sensor arrays 220 and the plurality of sensors 222 contained therein specify the angle of the palm surface area 104 in which the sensor array 220 is located. Determined based on the surface curvature of the operator's hand along regions 106, 108, 110, 112. In this example, the plurality of sensors 222 of the sensor array 220 located along the palm side middle hand portion 106 are sized and shaped with respect to the curvature and size of the palm side middle hand portion 106. Therefore, the plurality of sensors 222 of the sensor array 220 located along the palm side middle hand portion 106 are relatively small due to the corresponding contours of the palm side middle hand portion 106.

The plurality of sensors 222 of the sensor array 220 arranged along the hypothenar part 110 and the thumb part 112 have different sizes and shapes in relation to the curvature and size of the little finger part 110 and the thumb part 112, respectively. Is decided. Therefore, the plurality of sensors 222 of the sensor array 220 arranged along the hypothenar portion 110 and the thumb portion 112 are relatively large due to the corresponding contours of the spherical region 110 and the thumb portion 112. It should be understood that the plurality of sensors 222 in the individual sensor array 220 may differ in size and shape relative to each other. In addition, the various sizes, shapes and positions of one or more other sensor arrays 220, in particular the sensors 222 placed therein, are shown and depicted here along the surface area 104 of the palm. It should be understood that the glove system 200 can be included. As described in more detail herein, in a glove system 200 comprising a plurality of sensors 222 in one or more sensor arrays 220, the glove system 200 is particularly on the operator's hand (ie, on the sensor 222). It is configured to sense the force load applied to it along an individual anatomical part. It should be understood that with the plurality of individual sensors 222 in one or more sensor arrays 220, the glove system 200 can provide a specific indication of position along the glove system 200 under pressure.

Referring now to FIG. 3A, the glove system 100 may further include one or more sensor arrays 120 arranged along one or more finger surface regions 102. The one or more sensor arrays 120 are relatively sized and shaped for a given use of the surface curvature of the glove system 100 and / or the finger surface area 102, and a plurality of detection areas located therein. Includes 122. For example, the plurality of detection areas 122 of the sensor array 120 may have the distal end 101 of the finger surface area 102 when performing a predetermined task by the operator's hand, when the distal end 101 is generally subject to a force load on it. Can be extended along. As an additional or alternative, as a further example, the plurality of detection regions 122 of the sensor array 120 are curved along the finger surface region 102 corresponding to the surface contour of the operator's hand at the finger surface region 102. Can be done.

Referring to FIG. 3B, in this example, the plurality of detection regions 122 extend along the curved anatomical portion of the finger surface region 102, and in addition to the planar anatomical portion, thereby the sensor array 120. At least one detection area 122 of the is usually placed along each anatomical portion of the finger surface area 102 to which a force load is applied. The detection area 122 (eg, anatomical parts 1, 6, 7, 8, 9, 10, 11, 12, and 13) of the sensor array 120 arranged along the curved portion of the finger surface area 102 is of the operator. Shape fits the curvature of the anatomical shape of the finger. As described in detail here, the material composition of one or more sensor arrays 120 along the finger surface area 102 is relative to one or more sensor arrays 120 arranged along the palm surface area 104. Along the finger surface area 102, the glove system 100, 200 can be varied to retain a suitable finger tactile sensation. In particular, the material that reduces the rigidity of the sensor array 120 along the finger surface area 102 keeps the finger surface area 102 mobile by the operators of the glove systems 100, 200. Further, the material thickness of one or more sensor arrays 120 along the finger surface area 102 is arranged along the palm surface area 104 and is sufficiently manoeuvrable for the glove systems 100, 200 along the finger surface area 102. Can vary in relation to one or more sensor arrays 120.

A single sensor array 120 is shown and described on the finger surface region 102 of this example, but without departing from the scope of the present disclosure, along with various other anatomical portions of the finger surface region 102. It should be appreciated that additional and / or fewer sensor arrays 120 can be placed. Further, the plurality of detection regions 122 in the individual sensor array 120 may differ in relative size and shape from each other, and the shape of one or more sensor arrays 120 and the detection region 122 along the finger surface region 102. And positions should be understood to be included in the Globe System 100 in addition to those shown and depicted herein.

Referring now to FIG. 4A, the glove system 200 may further include one or more sensor arrays 220 arranged along one or more finger surface areas 102. The one or more sensor arrays 220 include a plurality of sensors 222 disposed therein, which are relatively sized and shaped to the predetermined use of the glove system 200 and / or the surface curvature of the finger surface area 102. It corresponds. For example, the plurality of sensors 222 of the sensor array 220 to the distal end 101 of the finger surface region 102 when the distal end 101 generally receives a force load on it when performing a predetermined task by the operator's hand. , Can extend along it. As an additional or alternative, as a further example, the plurality of sensors 222 of the sensor array 220 may be curved along the finger surface area 102 corresponding to the surface contour of the operator's hand angle at the finger surface area 102. obtain.

Referring to FIG. 4B, in this example, the plurality of sensors 222 extend along a curved anatomical portion of the finger surface region 102, and in addition to the planar anatomical portion, thereby the sensor array 220. At least one sensor 222 is typically placed along each anatomical portion of the finger surface area 102 to which force is applied. A single sensor array 220 is shown and described on the finger surface region 102 of this example, but additional and / or less sensor arrays 220 are included in the finger surface region without departing from the scope of the present disclosure. It should be understood that it can be placed along various other anatomical parts of 102. In addition, the plurality of sensors 222 within the individual sensor arrays 220 may differ in relative size and shape from each other, and a variety of one or more sensor arrays 220 and sensors 222 along the finger surface region 102. It should be understood that the size, shape and position of the glove system 200 can be included in the glove system 200 more than what is shown and depicted here.

Here, with reference to FIG. 5, an exemplary transducer 300 of the detection area 122 and / or the sensor 222 is depicted. In particular, FIG. 5 shows a schematic cross-sectional view of the sensor 222 of the glove system 200 including the detection area 122 of the glove system 100 and / or the transducer 300. Therefore, it should be understood that the detection area 122 of the glove system 100 and / or the sensor 222 of the glove system 200 described above can include the transducer 300 shown herein. Transducers 300 can include multiple layers placed on top of each other and are generally thin normalized so that the glove systems 100, 200 are relatively lightweight when received along the operator's hand. It is configured to maintain its structure. Multiple layers of the transducer 300 can include various thicknesses, material compositions, and elasticity depending on the surface properties of the operator's hand on which the sensing area 122 and / or the sensor 222 is placed. Multiple layers of the transducer 300 are shown as having a planar (ie, flat) profile, but the detection area 122 and / or the sensor 222 along the glove system 100, 200 finger surface area 102 or palm surface area 104. It should be understood that depending on the anatomical position of the transducer 300, the layers of the transducer 300 may be curved, tilted, of varying thickness, and / or similar.

In this example, the transducer 300 includes a sensing layer 308 disposed between the outer diffusion layer 306 and the inner diffusion layer 310 such that the sensing layer 308 is disposed therein. The transducer 300 has an outer diffusion layer 306 and an inner diffusion layer arranged between the outer contact layer 304 and the inner contact layer 312 so that the pair of diffusion layers 306, 310 is arranged within the pair of contact layers 304 and 312. Further includes 310. In this case, the outer contact layer 304 and the inner contact layer 312 define the outer boundary of the transducer 300 such that the remaining layers 306, 308, 310 are located between them. The outer contact layer 304 defines the outer surface 302 opposite to the layers 306, 308, 310, and the inner contact layer 312 defines the inner surface 314 opposite to the layers 306, 308, 310. The outer surface 302 of the transducer 300 is located relatively upward along the finger surface area 102 and / or the palm surface area 104 so that the outer surface 302 faces oppositely and is received within the glove system 100, 200. It should be understood that it is offset from the operator's hands. Thus, the inner surface 314 of the transducer 300 is located relatively inward along the finger surface area 102 and / or in the palm surface area 104 with the inner surface 314 facing next and is received within the glove system 100, 200. Adjacent to the operator's hand at the time.

Continuing with reference to FIG. 5, the transducer 300 further includes one or more guide functions 316 connecting through the plurality of layers 304, 306, 308, 310, 312. In this example, the transducer 300 includes a pair of diffusion layers 306, 310 and a pair of guide functions 316 arranged perpendicular to the direction in which the sensing layer 308 extends in a pair of contact layers 304, 312. The pair of guide mechanisms 316 includes a thickness relatively smaller than the pair of contact layers 304 and 312 and the pair of diffusion layers 306, 310 so that the guide mechanism 316 is relatively soft and flexible. In some embodiments, the guide function pair 316 includes VeroWhitePlus, photopolymers, 3D printing materials, digital materials, and / or the like. The pair of guide functions 316, thereby, to improve the detection accuracy of the force received along the detection area 122 and / or the sensor 222, the pair of contact layers 304, 312, the pair of diffusion layers 306, 310, and It is configured to maintain the alignment of the sensing layer 308. A pair of guide mechanisms 316 may further reduce the longitudinal load on the sensing layer 308. As described in more detail herein, the transducers 300 and / or sensors 222 in the detection area 122 are added and / or more than those shown and described herein without departing from the scope of the present disclosure. Or it can contain a small number of layers and / or guide functions.

For example, a number of guide functions 316 included in the transducer 300 of the detection area 122 and / or the sensor 222 are the anatomical areas of the operator's hand to which the sensing area 122 and / or the sensor 222 will be located. Can depend on the shape and / or contour of. The detection region 122 and / or the sensor 222 are located along the anatomical region of the operator's hand that contains significant curvature (eg, the distal end 101 of the finger surface region 102, the ball 112, etc.). In some cases, additional guide function 316 may be required to maintain proper alignment of the plurality of layers 304306, 308, 310, 312 of the transducer 300. In contrast, the detection area 122 and / or the sensor 222 does not contain a substantial shape or contour of the operator's hand anatomical area (eg, palm middle hand area 106, palm side central 108, hypothenar 110). Etc.), it may be required that the required guide function 316 is low or absent.

Continuing with reference to FIG. 5, the lateral distance between one or more guide functions 316 is the shape and / or anatomy of the operator's hand through which the sensing area 122 and / or the sensor 222 will be placed. It can be increased or decreased according to the contour of the target area. When the detection area 122 and / or the sensor 222 is located along the operator's anatomical area of the hand containing significant curvature (eg, distal end 101 of finger surface area 102, finger area 112, etc.). A smaller lateral distance between the two or more guide functions 316 with the anatomical region of the operator's hand with a smaller curvature (eg, palm middle hand region 106, middle palm region 108, small finger ball 110, etc.). It may be needed to maintain proper alignment of multiple layers 304306, 308, 310, 312 of the compared transducers 300. In contrast, the detection area 122 and / or the sensor 222 is more curved compared to the anatomical area of the operator's hand (eg, the distal end 101 of the finger surface area 102, the finger area 112, etc.). Two when placed along the anatomical region of the operator's hand that does not contain a substantial shape or contour (eg, palm middle hand region 106, middle palm region 108, small finger ball 110, etc.) A larger lateral distance between the above guide functions 316 may be appropriate.

The sensing layer 308 of the transducer 300 is a pressure sensor, including a three-dimensional load cell configured to convert the pressure (eg, forced load) received on it into an electrical signal indicating the magnitude of the pressure applied to it. .. In some embodiments, the sensing layer 308 is a printed layer, such as, for example, a piezo-resistant fabric, polyethylene terephthalate (PET), or the like. The sensing layer 308 is a layer that is flexible with respect to the contact layer pairs 304, 312 and the diffusion layer pairs 306, 310 due to its relatively thinness, material composition, and / or similar. In some embodiments, the sensing layer 308 is one or more arranged around the sensing layer 308 such that the sensing layer 308 is separated by a pair of diffusion layers 306, 310 by one or more intermediate layers. It can include an intermediate layer. The interlayer may include films, fabrics, conductive inks, polymers, hard plastics, and / or similar coatings. In another embodiment, the transducer 300 has a sensing layer 308 in it and a diffusion layer pair 306, 310 and a contact layer pair 304, 312 so that the sensing layer 308 can be selectively removed and replaced as needed. A sensor pocket for receiving the sensing layer 308 may be included between the two.

Continuing with reference to FIG. 5, the diffusion layer pairs 306, 310 and the contact layer pairs 304, 312 are made of elastic three-dimensional printed digital material. In some embodiments, the contact layer pairs 304, 312 and / or the diffusion layer pairs 306, 310 are "VeroWhitePlus ™", "Tank Black Plus ™", and / or the like. .. In general, the outer contact layer 304 and the outer diffusion layer 306 include a material composition that provides incompressible, rigid properties for the inner contact layer 312 and the inner diffusion layer 310, which provides compressible, softer properties. Includes material composition. In some embodiments, the diffusion layer pairs 306, 310 are more flexible than the contact layer pairs 304, 312 such that the diffusion layer pairs 306, 310 are more flexible with respect to the contact layer pairs 304, 312. Contains great elasticity. In this case, the contact layer pairs 304 and 312 provide the outer configuration of the rigidity of the transducer 300 of the sensing area 122 and / or the sensor 222. As described in more detail herein, the elastic enhancement of the diffusion layer pairs 306, 310 allows for the diffusion layer 306, 310 pairs and the load (ie, force) is in the detection area 122 and / or. Received by the sensor 222, it selectively compresses and / or deforms when redirecting the load towards the sensing layer 308 placed in between.

For example, diffusion layer pairs 306, 310 can include elasticity with shore hardness values in the range of about 27A to about 50A, and contact layer pairs 304, 312 have shore hardness values in some embodiments. It can include elasticity in the range of about 70A to 95A, in some embodiments from 15D to 50D, and in some embodiments from about 95A to about 80D. If the sensor array 220 of the globe system 200 includes a plurality of sensors 222 disposed therein (see, eg, FIGS. 1, 4A-4B), the contact layer pairs 304, 312 and / or of the plurality of sensors 222. It should be understood that the diffusion layer pairs 306, 310 can include a relatively soft material with a low shore hardness value in order to further enhance the tactile sensation of the individual individual sensors 222 of the transducer 300. For example, the contact layer pairs 304 and 312 of the plurality of sensors 222 have elasticity with a shore hardness value of about 65A to about 70A (may correspond to a shore hardness of 15D in some embodiments), more specifically. It can include materials having elasticity of about 60A to about 70A (which may correspond to a shore hardness of 15D in some embodiments). As a further example, the diffusion layer pairs 306, 310 of the plurality of sensors 222 can include elastic materials with a shore hardness value of about 27A to 35A.

Alternatively, the detection areas 122 and / or sensors 222 of the globe systems 100, 200 are placed along the anatomical portion of the operator's hand, including surface curvature that requires a layer of transducer 300 for a snug fit. If so, one or more layers of the transducer 300 can include materials with higher shore hardness values to provide adequate stiffness for the sensing area 122 and / or the sensor 222. For example, with the globe system 100 including one or more sensor arrays 120 having a plurality of detection areas 122 (see, eg, FIGS. 1, 3A-3B), the outer contact layer 304 of the detection area 122 may have several. In some embodiments, a shore hardness value of about 95A to about 100A, in some embodiments from about 50D to about 60D, can be included, and the inner contact layer 312 of the detection region 122 in some embodiments. , About 70A to about 80A, or in some embodiments about 15D to about 30D shore hardness values, plus one or more sensors with multiple sensors 222 (FIGS. 2, 4A-4B). Using the glove system 200 including the array 220, the outer contact layer 304 of the sensor 222 has a shore hardness value of about 80A to about 95A in some embodiments, or about 30D to about 50D in some embodiments. The inner contact layer 312 of the sensor 222 can include a shore hardness value of about 60A to about 75A, which is about 20D in some embodiments. The contact layer pair 304, 312 (see, eg, FIGS. 1, 3A-3B) of the detection area 122 of the globe system 100 contains a material composition that is relatively harder than the contact layer pair 304, 312 of the globe system 200 (see, eg, FIGS. 1, 3A-3B). (See, for example, FIGS. 1, 2, and 4A-4B), the localized areas of the individual individual sensors 222 are strong enough for the transducer 300 of multiple detection areas 122 due to the large size (eg, surface area) of the transducer 300. It should be understood that this may be relatively smaller than the area of the sensing area 122 so that the hardness needs to be increased to maintain.

Continuing with reference to FIG. 5, in some embodiments, the elasticity of the internal diffusion layer 310 and / or the inner contact layer 312 is such that the transducer 300 and / or the sensor 222 in the detection region 122 may, for example, the finger surface region 102, the mother. Unlike the outer diffusion layer 306 and the outer contact layer 304, respectively, when placed along the anatomical part of the operator's hand where enhanced tactile sensation and maneuverability are desired, such as the finger area 112 glove system 100, 200. obtain. In particular, the internal diffusion layer 310 may include a shore hardness different from the shore hardness of the outer diffusion layer 306 in order to provide sufficient tactile sensation to the operator's hand received within the glove system 100, 200. This is because the internal diffusion layer 310 is located relatively adjacent to the inner surface 314 of the transducer 300, which may hit the operator's hands. For example, the inner diffusion layer 310 can include elasticity in the range of shore hardness values of about 27A to about 35A. In another embodiment, the inner contact layer 312 includes a shore hardness that is different from the shore hardness of the outer contact layer 304 in order to provide enhanced maneuverability to the operator's hand received within the glove system 100, 200. be able to. This is because the inner contact layer 312 is located relatively adjacent to the inner surface 314 of the transducer 300 that may come into contact with the operator's hand. For example, the inner contact layer 312 can contain elasticity with a shore hardness value in the range of about 60A to about 70A, which may correspond to a shore hardness value of about 15D in some embodiments.

The diffusion layer pairs 306, 310 of the transducer 300 are thicker than the contact layer pairs 304, 312. For example, diffusion layer pairs 306, 310 can include a thickness of about 0.25 mm to about 0.5 mm, and contact layer pairs 304, 312 can contain from about 0.1 mm to about 0.2 mm. Can include millimeter thickness. The sensor array 220 of the globe system 200 includes a plurality of sensors 222 disposed therein (eg, FIGS. 1, 4A-4B), with contact layer pairs 304, 312 and / or diffusion layer pairs 306, 310. However, it should be understood that in order to further enhance the tactile sensation of the individual individual sensors 222 of the transducer 300, relatively thin materials of thinner thickness can be included. For example, a pair of contact layers 304, 312 of a plurality of sensors 222 can include materials having a thickness of about 0.15 mm to about 0.2 mm. As a further example, the diffusion layer pairs 306, 310 of the plurality of sensors 222 are about 0.3 mm to about 0.5 mm, more specifically 0.15 mm to about 0.2 mm thick. Can include materials having.

Alternatively, if the detection areas 122 and / or sensors 222 of the globe systems 100, 200 are placed along the anatomical portion of the operator's hand, including surface curvature that requires a layer of transducer 300 to fit snugly. One or more layers of the transducer 300 may include thinner thickness material to provide adequate rigidity to the detection area 122 and / or the sensor 222. For example, when a globe system 100, 200 including one or more sensor arrays 120, 220 with a plurality of detection areas 122 and / or sensors 222 is used (see, eg, FIGS. 1-4), the internal diffusion layer 310 may be It can include a thickness of about 0.15 mm to about 0.20 mm. The internal diffusion layer 310 of the detection region 122 of the globe system 100 (see, eg, FIGS. 1, 3A-3B) and the internal diffusion layer 310 of the globe system 200 (eg, FIGS. 2, 4A-4B) are in the detection region 122 and / or. It should be understood that if the anatomical portion on which the sensor 222 is located contains a substantial surface curvature, it can contain similar thicknesses. This is because proper force diffusion across the internal diffusion layer 310 requires a minimum material thickness. However, the thickness of the inner diffusion layer 310 and / or the other layers of the transducer 300 is the compression ratio of the operator's hand along the anatomical portion where the sensing area 122 and / or the sensor 222 of the glove system 100, 200 is located. Can vary depending on. Therefore, the thickness and elasticity described here differ from operator to operator.

Continuing to refer to FIG. 5, as described above, in some embodiments, the elastic and / or inner contact layer 312 of the internal diffusion layer 310 has the sensing region 122 and / or the transducer 300 of the sensor 222, eg, a finger. Outer diffusion layer 306 and outer, respectively, when placed along the anatomical part of the operator's hand where enhanced tactile sensation and maneuverability are desired, such as surface area 102, thumb area 112 glove system 100, 200, etc. It may be different from the contact layer 304. In particular, the internal diffusion layer 310 may include a thickness different from that of the outer diffusion layer 306 in order to provide sufficient tactile sensation to the operator's hand housed in the glove system 100, 200. This is because the internal diffusion layer 310 is located relatively adjacent to the inner surface 314 of the transducer 300, which may hit the operator's hands. For example, the inner diffusion layer 310 includes a thickness of about 0.25 mm to about 0.35 mm, more specifically 0.15 mm to about 0.20 mm. In another embodiment, the inner contact layer 312 may include a thickness different from that of the outer contact layer 304 in order to provide enhanced maneuverability to the operator's hand. This is because the inner contact layer 312 is arranged adjacent to the inner surface 314 of the transducer 300 with respect to the outer contact layer 304. For example, the inner contact layer 312 may include a thickness in the range of about 0.10 millimeters to about 0.20 millimeters.

In some embodiments, one or more layers of the transducer 300 are made based on the operator's hand physiology to be received within the glove system 100, 200, the tasks performed by the glove system 100, 200, and the like. It should be understood that modifications or omissions may be made. Alternatively, if the glove system 200 includes one or more sensor arrays 220 in which a plurality of sensors 222 are located, one or more layers of the transducers 300 of the plurality of sensors 222 exert pressure on the glove system 200. It can be modified or omitted to enhance the ability of the glove system 200 to detect a particular location. For example, the sensor arrays 120, 220 of the glove systems 100, 200 may be placed along a portion of the palm surface area 104 that includes an essentially hard surface (eg, palm middle hand area 106, middle palm area 108, etc.). In a possible embodiment, the thickness of one or more layers of the transducer 300 can be reduced, the elasticity of one or more layers of the transducer 300 can be increased, and / or one of the transducers 300 or Multiple layers can be omitted. In other words, due to the naturally hard surface properties of certain anatomical parts of the operator's hand, the transducer 300 of the detection area 122 and / or the sensor 222 does not need to include a rigid configuration.

As a further example, sensor arrays 120, 220 of the glove system 100, 200 may be placed along a portion of the palm surface region 104 that includes an essentially flexible surface (eg, hypothenar portion 110, thumb region 112, etc.). In embodiments, the thickness of one or more layers of the transducer 300 can be increased, the elasticity of one or more layers of the transducer 300 can be reduced, and / or one of the transducers 300 or Multiple layers can be omitted. In other words, due to the naturally soft surface properties of certain anatomical parts of the operator's hand, the transducer 300 of the detection area 122 and / or the sensor 222 may need to include a rigid configuration.

Continuing with reference to FIG. 5, the inner diffusion layer 310 and / or the inner contact layer 312 is omitted altogether from the transducer 300 so that, for example, the sensor array 220 of the globe system 200 includes a plurality of sensors 222 therein. Can be done. In this case, one or more of the plurality of sensors 222 may include at least the outer contact layer 304, the outer diffusion layer 306, and the transducer 300 including the sensing layer 308. In this embodiment, one or more internal diffusion layers 310 and / or inner contact layers 312 are omitted, and the thickness and / or material elasticity of the remaining layers of the transducer 300 is modified to accommodate this omission. can. For example, omitting the inner contact layer 312 of the transducer 300 provides the transducer 300 with the proper stiffness and performs the proper force distribution (eg, in the range of about 0.25 mm to about 0.35 mm). Therefore, it can be dealt with by increasing the thickness of the internal diffusion layer 310. In addition, the material elasticity of the internal diffusion layer 310 of the transducer 300 can be reduced to provide adequate pressure diffusion over the sensing region due to the omission of the inner contact layer 312 (eg, shore of about 50A to about 60A). Hardness range). In other words, the hardness and / or rigidity of the internal diffusion layer 310 of the transducer 300 is to properly receive, disperse, and normalize the force load received along the inner surface 314 of the transducer 300 through such an internal diffusion layer 310. In addition, it can be increased to accommodate the omission of the inner contact layer 312.

In other embodiments, the outer contact layer 304 and the outer diffusion layer 306 can be omitted for a single outer layer (not shown) located on the sensing layer 308. In this embodiment, the material composition of the outer contact layer 304 and the outer diffusion layer 306 is to adequately provide rigidity, compression ratio, and a structure collectively provided to the outer contact layer 304 and the outer diffusion layer 306. , May be collectively provided in a single outer layer. In this case, the single outer layer is originally configured and manipulated by the outer contact layer 304 and the outer diffusion layer 306 described herein to perform the performed dispersion and diffusion properties, respectively. Only a single layer is printed on top of the sensing layer 308. A single outer layer can include an elastic range of shore hardness of about 27A to about 95A. In particular, a single outer layer may contain varying elasticity (ie, shore hardness) throughout the lateral thickness of the layer. Thereby, it promotes both the dispersion and diffusion of the force passing through it. In other words, a single outer layer of the present embodiment receives a force, distributes the force into the plurality of forces, and transmits the plurality of normalized forces to a plurality of sensing layers 308 fixed to it. Is configured to normalize the power of.

The inner contact layer 312 and the inner diffusion layer 310 are also for a single inner layer (not shown) placed on top of the sensing layer 308 in place of the single outer layer and / or in addition to the single outer layer. It should be understood that it can be omitted. In particular, a single inner layer can be placed on top of the sensing layer 308 along the opposite surface of the single outer layer. The material composition of the inner contact layer 312 and the inner diffusion layer 310 is a single inner layer to adequately provide rigidity, compressibility, and the structure collectively provided to the inner contact layer 312 and the inner diffusion layer 310. Can be provided collectively to. In this case, a single inner layer is configured to disperse and perform the diffusion characteristics originally performed by the internal contact layer 312 and the internal diffusion layer 310, respectively, as described herein. To operate, only a single layer is printed along the sensing layer 308 opposite the surface of the sensing layer 308 containing a single outer layer, and the single inner layer is through the thickness of the sides of the layer. It can contain a variety of elasticity (ie, shore hardness), which facilitates force distribution and diffusion. In other words, a single inner layer of this embodiment is configured to receive a force (eg, normal force), distribute the force into multiple forces, and fix multiple normalized forces to it. A plurality of forces are normalized before being transmitted to the sense layer 308.

Here, with reference to FIG. 6 along with the flow diagram of FIG. 7, an exemplary method 400 for detecting and measuring the force load applied to the glove systems 100, 200 is schematically shown. That is, the glove systems 100, 200 are generated from the load of force received along one or more sensor arrays 120, 220 of the glove systems 100, 200 at various angles to the plane of the operator's hand. It can be operated to measure the pressure generated as. 6-7 and the accompanying description below are not intended to limit the subject matter described herein or to represent an exact description of how forces are distributed between layers, instead. It is intended to provide a brief schematic overview to demonstrate the general force distribution characteristics of the layers described herein.

Referring to FIG. 6, in step 402, the force F is applied along at least one of one or more sensor arrays 120, 220 of the globe systems 100, 200 (FIG. 1-2), in particular the sensing area. Received along the outer contact layer 304 of the transducer 300 of the 122 and / or the sensor 222. This force F is composed of a horizontal component FX and a vertical component FY so that the force vector F lateral to the outer surface 302 of the transducer 300 can be received along the outer contact layer 304. In other words, the force F is a vector quantity that includes both the magnitude and direction received along the detection area 122 and / or the sensor 222 of the glove system 100, 200. In step 412, one or more normal forces _FR1 and _FR2 are inside along the inner surface 314 of the transducer 300 along the outer surface 302 of the transducer 300, depending on the outer contact layer 304 receiving the force F. It is generated and received by the contact layer 312. The one or more normal forces _FR1 and _FR2 are reaction forces applied to the transducer 300 by the hands of an operator placed adjacent to and abutting on the inner surface 314. ^The normal forces _FR1 and _FR2 are horizontal components _FR1 so that the normal forces _FR1 and _FR2 are received along the inner contact layer 312 laterally to the inner surface 314 of the transducer 300. _Consists of _X , FR ² _X , and vertical components _FR ¹ _Y , _FR ² _Y ,

Thus, the detection area 122 and / or the sensor 222 has at least one force F at the outer contact layer 304 by the external object engaging the glove system 100 and at least one force F at the inner contact layer 312 by the operator's hand placed therein. The amount of normal force FR received along the internal contact layer 312 that receives one normal force FR is the inner contact layer 312 on which the transducer 300 engages the operator's hand when the force F is applied to the transducer 300. It should be understood that it is possible to accommodate a large number of contact points along. In this example, the transducer 300 engages the operator's hand along the inner surface 314 at two positions such that normal force pairs _FR1 and _FR2 are generated and applied to the inner contact layer 312. Additional and / or less forces F and / or normal forces _FR1 , _FR2 are more perceptible to the Globe Systems 100, 200 than those shown and depicted herein, without departing from the scope of the present disclosure. It should be understood that it can be applied to regions 122 and / or sensors 222.

Continuing with reference to FIG. 6, in step 404, the outer contact layer 304 receives the force F evenly along the outer surface 302 of the transducer 300 through the region of the outer contact layer 304 so that the force F is evenly distributed. Disperse. Depending on the magnitude of the force vector F, the force F is "N" times such that the initial force F received by the transducer 300 is evenly distributed in the outer contact layer 304 towards the outer diffusion layer 306. It should be understood that the F / N is divided. In this example, the force F is distributed through the outer contact layer 304 into nine equal dispersions F / 9. However, in another example, the force vector F can include larger and / or smaller magnitudes such that the force F is dispersed into various other dispersion quantities. In step 414, the inner contact layer 312 is evenly distributed on the inner surface of the transducer 300 so that the normal forces _FR1 and _FR2 (ie, reaction forces) are evenly distributed over the entire region of the inner contact layer 312. Depending on the magnitude of the force vector F that disperses the vertical forces _FR1 and _FR2 received along 314, the normal forces _FR1 and _FR2 are the initial normal forces _FR1 received by the transducer 300. "N" times such that _FR2 is evenly distributed along the outer contact layer 304, in an amount substantially equal to the initial force vector F, through the inner contact layer 312 and towards the inner diffusion layer 310. , It should be understood that it is divided into FR / N. In this example, the normal forces _FR1 and _FR2 are dispersed in nine equal dispersion FR / 9s through the inner contact layer 312, corresponding to the dispersion of the force F / 9 in the outer contact layer 304.

In step 406, with a force F / 9 dispersed across the region of the outer contact layer 304 in one or more force segments, the dispersed force F / 9 is adjacent to and communicates with the outer contact layer 304. It is transmitted to the outer diffusion layer 306 arranged in the above direction. In this case, the outer diffusion layer 306 receives a dispersion force F / 9 over the entire surface area of the outer diffusion layer 306 at various positions corresponding to one or more segments F / 9 dispersed by the outer contact layer 304. .. In step 408, the outer diffusion layer 306 is outer so that the force vector F / 9 having a cumulative magnitude equal to the magnitude of the force vector F initially received by the outer contact layer 304 stabilizes and shifts to the scalar force FY / 9. The dispersion force F / 9 received from the contact layer 304 is normalized. In step 416, the normal normal force FR / 9 is dispersed in one or more normal force segments FR / 9 over the entire region of the inner contact layer 312, and the dispersed normal force FR / 9 is the inner contact layer 312. It is transmitted to the internal diffusion layer 310 adjacent to and in contact with it. In this case, the internal diffusion layer 310 has a dispersion normal force FR / 9 across the surface area of the internal diffusion layer 310 at various positions corresponding to one or more segments FR / 9 dispersed by the inner contact layer 312. Receive. In step 418, the internal diffusion layer 310 has a cumulative size corresponding to the original size of the normal force vectors _FR1 and _FR2 received by the inner contact layer 312 in which the normal force vector FR / 9 is stable. The dispersion normal force FR / 9 received from the internal contact layer 312 is normalized so as to shift to the scalar force FRY / 9.

Continuing with reference to FIG. 6, in step 410, with the scalar force FY / 9 normalized and dispersed throughout the region of the outer diffusion layer 306, the normalized and dispersed force of FY / 9 is applied to the outer diffusion layer 306. Adjacent to it, it is transmitted to the sensing layer 308 arranged in contact with it. In this case, the sensing layer 308 is FY / over the entire surface area of the sensing layer 308 at various locations along the outer surface of the sensing layer 308 corresponding to one or more segments dispersed by the outer diffusion layer 306. Receives 9 normalized and distributed forces. In step 420, the normalized and distributed scalar normal force FRY / 9 of the internal diffusion layer 310 is adjacent to the internal diffusion layer 310 with the normalized and dispersed normal force FRY / 9. It is transmitted to the sensing layer 308 arranged in contact with this. In this case, the sensing layer 308 is normalized and normalized over the entire surface area of the sensing layer 308 at various locations along the inner surface of the sensing layer 308 corresponding to one or more segments dispersed by the internal diffusion layer 310. Receives a distributed normal force FRY / 9.

In step 422, the sensing layer 308 is a normalized and dispersed force FY / 9 from the outer layers 304, 306 (ie, the outer contact layer 304 and the outer diffusion layer 306) at multiple locations across the surface area of the sensing layer 308. , And the normalized and dispersed normal force FRY / 9 from the inner layers 310 and 312 (ie, the inner diffusion layer 310 and the inner contact layer 312) is received and sensed. In this case, the plurality of forces are evenly distributed and applied to the sensing layer 308 with higher accuracy and a measurable scalar quantity due to the uniform dispersion and the normalized force vector. In step 424, with the magnitudes of the measured initial force F and normal forces _FR1 and _FR2 , the sensing layer 308 is applied to the sensing area 122 and / or the sensor 222 of the globe systems 100, 200, as a result. Determine the pressure generated.

The above system uses each sensor array containing one or more non-discrete sensing regions and / or individual sensors placed therein for detection in different anatomical regions of the glove. Includes a pressure sensing glove system that provides multiple sensor arrays that are placed along and measure the force applied to it. One or more non-discrete sensing regions and / or discrete sensors include a transducer that includes sensors located within a pair of diffuse layers, and further, forces received along the outer surface of the transducer across the pair of diffuse layers. Is placed within a pair of contact layers that disperse. A pair of diffuse layers thereby normalizes the force received from the pair of contact layers and throughout the sensing layer placed therein for detection and to determine the resulting pressure applied to the sensor. Disperse the normalized force.

The terms "substantially" and "about" are used herein to describe the inherent degree of uncertainty that may result from a quantitative comparison, value, measurement, or other expression. Keep in mind that it can be done. These terms are also used herein to describe to some extent that the quantitative representation may differ from the references described, without causing any change in the basic function of the subject matter in question.

Although specific embodiments have been exemplified and described herein, it should be understood that various other changes and modifications may be made without departing from the gist and scope of the claimed subject matter. be. Also, various aspects of the claimed subject matter are described herein, but it is not necessary to utilize such aspects in combination. Therefore, the appended claims are intended to cover all changes and amendments that are within the scope of the claimed subject matter.

Claims (15)

A pair of contact layers for receiving forces, including horizontal and vertical components,
A pair of diffusion layers arranged between a pair of contact layers, wherein the pair of diffusion layers distributes the force received along the outer surface of the sensor across the pair of diffusion layers.
A sensing layer arranged between the pairs of diffusion layers.
The diffusion layer pair transfers the force received from the pair of contact layers across the sensing layer into a scalar force that includes the vertical component of the force.
The sensing layer receives the scalar force at multiple locations over the entire surface area of the sensing layer to determine the resulting pressure applied to the sensor.
The pair of contact layers includes an inner contact layer and an outer contact layer.
The inner contact layer has greater elasticity than the outer contact layer and has greater elasticity.
The pair of sensing layers includes an inner diffusion layer and an outer diffusion layer.
The inner diffusion layer has greater elasticity than the outer diffusion layer.
With the sensing layer,
Equipped with sensors including
A pressure sensing device for measuring force. The pressure sensing device of claim 1 , wherein the sensing layer comprises a three-dimensional load cell that converts the pressure acting on the sensing layer into an electrical signal . The pressure sensing according to claim 1 or 2, wherein the pair of diffusion layers contains greater elasticity than the pair of contact layers, just as the pair of diffusion layers is flexible with respect to the pair of contact layers. device. The pressure sensing device of claim 3, wherein the elasticity of the pair of diffusion layers has a shore hardness value range of about 27A to 50A. The pressure sensing device of claim 3 or 4, wherein the elasticity of the pair of the contact layers has a shore hardness value range of about 75A to 95A. The pressure sensing device according to any one of claims 1 to 5, wherein the pair of diffusion layers is thicker than the pair of contact layers. The first layer of the pair of contact layers extends along the outer surface of the pressure sensing device and extends.
The pressure sensing device according to any one of claims 1 to 6, wherein the second layer of the pair of contact layers extends along the inner surface of the pressure sensing device. The first layer of the pair of the contact layers receives the force from the outer surface of the pressure sensing device.
The second layer of the pair of the contact layers receives a normal force generated on the inner surface of the pressure sensing device, depending on the first layer of the pair of contacts receiving the force on the outer surface. 7. The pressure sensing device according to 7. The pressure sensing device according to any one of claims 1 to 8, wherein the sensor further includes the pair of contact layers, the pair of diffusion layers, and a guide function extending vertically through the sensing layer. The pressure sensing device according to claim 9, wherein the guide function maintains the alignment of the pair of contact layers, the pair of diffusion layers, and the sensing layer, thereby improving the detection accuracy of the force received by the sensor. .. A step that receives a force applied to a device comprising the sensor in a position along the outer and inner contact layers of the sensor, wherein the force includes a horizontal component and a vertical component.
A step of distributing the force from the position to a plurality of positions across the outer contact layer and the inner contact layer along the outer contact layer and the inner contact layer.
At a plurality of positions of the outer diffusion layer and the inner diffusion layer of the sensor, the outer diffusion layer and the inner diffusion layer are steps in which the force is received from the plurality of positions of the outer contact layer and the inner contact layer. A step and a step that is placed beneath the outer contact layer and the inner diffusion layer against the force received on it.
A step of transferring the force, including the vertical component of the force, into a scalar force through the outer diffusion layer and the inner diffusion layer at the plurality of positions across the outer diffusion layer and the inner diffusion layer.
In the step of receiving a force across the surface of the sensing layer of the sensor, the sensing layer is arranged below the outer diffusion layer and the outer diffusion layer, and the inner contact layer has greater elasticity than the outer contact layer. And the inner diffusion layer has greater elasticity than the outer diffusion layer,
How to include. A step of receiving a normal force at a position along the inner contact layer of the sensor, depending on the outer contact layer of the sensor receiving the force.
A step of dispersing the normal force from the position along the internal contact layer to a plurality of positions across the internal contact layer.
A step of receiving the normal force from the plurality of positions of the internal contact layer at a plurality of positions of the internal diffusion layer of the sensor, wherein the internal diffusion layer makes the internal contact with respect to the normal force received on the vertical force. Steps and steps placed on top of the layer,
11. The method of claim 11. A step of transferring the normal force passing through the internal diffusion layer to a scalar force at the plurality of positions across the internal diffusion layer.
A step of receiving a normal force across the surface of the sensing layer, wherein the sensing layer is placed on the internal contact layer and the internal diffusion layer opposite to the normal force received upon it. Steps and
12. The method of claim 12. A glove system worn by the user, the glove system comprising at least one finger surface area and a palm surface area.
With a plurality of sensors provided on the at least one finger surface area 102 and at least one of the palm surface areas.
It is a glove device equipped with
Each of the plurality of sensors
An outer layer arranged along the surface of the glove device and configured to receive a force from the surface of the glove device, wherein the force includes horizontal and vertical components, which further disperses the force. With an outer layer configured to transition to a scalar force containing the vertical component of the force,
An inner layer that is arranged to face the outer layer and is configured to receive a normal force in response to the outer layer receiving the force on the surface of the glove device, the inner layer further comprising an inner layer. The inner layer, which is configured to disperse the normal force ,
A sensing layer disposed between the outer layer and the inner layer, wherein the sensing layer from the outer layer is to detect the magnitude resulting from the force received from the surface of the glove device. Includes a sensing layer, which is configured to receive a scalar force and a scalar normal force from said inner layer.
here,
The outer layer includes an outer contact layer and an outer diffusion layer.
The inner layer includes an inner contact layer and an inner diffusion layer.
The inner contact layer has greater elasticity than the outer contact layer and has greater elasticity.
The inner diffusion layer has greater elasticity than the outer diffusion layer.
Globe device. The outer layer has a first thickness having an initial shore hardness value of about 75A to 95A and a second thickness having a second shore hardness value of about 27A to about 50A.
Including
The first thickness of the outer layer is arranged in close proximity to the surface of the glove device with respect to the second thickness.
The second thickness of the outer layer is arranged in close proximity to the sensing layer for the first thickness.
The glove device according to claim 14.

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